From bb93b6822a0eb86acab8fcf97ae4eeacf3b0e4d4 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 23 Jul 2016 13:11:18 -0700 Subject: [PATCH] Use set_current_from_steppers_for_axis --- Marlin/Marlin_main.cpp | 29 ++++++++++------------------- 1 file changed, 10 insertions(+), 19 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index b1cfad4bb..b92a22242 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -564,7 +564,7 @@ void stop(); void get_available_commands(); void process_next_command(); void prepare_move_to_destination(); -void set_current_from_steppers(); +void set_current_from_steppers_for_axis(AxisEnum axis); #if ENABLED(ARC_SUPPORT) void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise); @@ -2116,7 +2116,7 @@ static void clean_up_after_endstop_or_probe_move() { do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), Z_PROBE_SPEED_FAST); endstops.hit_on_purpose(); - set_current_from_steppers(); + set_current_from_steppers_for_axis(Z_AXIS); SYNC_PLAN_POSITION_KINEMATIC(); // move up the retract distance @@ -2125,7 +2125,7 @@ static void clean_up_after_endstop_or_probe_move() { // move back down slowly to find bed do_blocking_move_to_z(current_position[Z_AXIS] - home_bump_mm(Z_AXIS) * 2, Z_PROBE_SPEED_SLOW); endstops.hit_on_purpose(); - set_current_from_steppers(); + set_current_from_steppers_for_axis(Z_AXIS); SYNC_PLAN_POSITION_KINEMATIC(); #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -6074,8 +6074,8 @@ void quickstop_stepper() { stepper.quick_stop(); #if DISABLED(SCARA) stepper.synchronize(); - set_current_from_steppers(); - sync_plan_position(); // ...re-apply to planner position + LOOP_XYZ(i) set_current_from_steppers_for_axis((AxisEnum)i); + SYNC_PLAN_POSITION_KINEMATIC(); #endif } @@ -7912,25 +7912,16 @@ void clamp_to_software_endstops(float target[3]) { #endif // DELTA -void set_current_from_steppers() { +void set_current_from_steppers_for_axis(AxisEnum axis) { #if ENABLED(DELTA) set_cartesian_from_steppers(); - current_position[X_AXIS] = cartesian_position[X_AXIS]; - current_position[Y_AXIS] = cartesian_position[Y_AXIS]; - current_position[Z_AXIS] = cartesian_position[Z_AXIS]; + current_position[axis] = LOGICAL_POSITION(cartesian_position[axis], axis); #elif ENABLED(AUTO_BED_LEVELING_FEATURE) - vector_3 pos = planner.adjusted_position(); // values directly from steppers... - current_position[X_AXIS] = pos.x; - current_position[Y_AXIS] = pos.y; - current_position[Z_AXIS] = pos.z; + vector_3 pos = planner.adjusted_position(); + current_position[axis] = LOGICAL_POSITION(axis == X_AXIS ? pos.x : axis == Y_AXIS ? pos.y : pos.z, axis); #else - current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS); // CORE handled transparently - current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS); - current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS); + current_position[axis] = LOGICAL_POSITION(stepper.get_axis_position_mm(axis), axis); // CORE handled transparently #endif - - for (uint8_t i = X_AXIS; i <= Z_AXIS; i++) - current_position[i] += LOGICAL_POSITION(0, i); } #if ENABLED(MESH_BED_LEVELING)